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<div class="title">dji_subscription.hpp</div>  </div>
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<a href="dji__subscription_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#ifndef DJI_DATASUBSCRIPTION_H</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#define DJI_DATASUBSCRIPTION_H</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#include &quot;dji_open_protocol.hpp&quot;</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="dji__telemetry_8hpp.html">dji_telemetry.hpp</a>&quot;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="dji__vehicle__callback_8hpp.html">dji_vehicle_callback.hpp</a>&quot;</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceDJI.html">DJI</a></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;{</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keyword">namespace </span>OSDK</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;{</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment">// Forward Declarations</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">class </span>Vehicle;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classDJI_1_1OSDK_1_1SubscriptionPackage.html">   52</a></span>&#160;<span class="keyword">class </span><a class="code" href="classDJI_1_1OSDK_1_1SubscriptionPackage.html">SubscriptionPackage</a></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;{</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor">#pragma pack(1)</span></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">struct </span>PackageInfo</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  {</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    uint8_t  packageID;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    uint16_t freq;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    uint8_t  config;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    uint8_t  numberOfTopics;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  } PackageInfo;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="preprocessor">#pragma pack()</span></div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <a class="code" href="classDJI_1_1OSDK_1_1SubscriptionPackage.html">SubscriptionPackage</a>();</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  ~<a class="code" href="classDJI_1_1OSDK_1_1SubscriptionPackage.html">SubscriptionPackage</a>();</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keywordtype">void</span> setPackageID(uint8_t <span class="keywordtype">id</span>);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keywordtype">void</span> setConfig(uint8_t config);</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classDJI_1_1OSDK_1_1SubscriptionPackage.html#a6eaeebd4f63340da619088abafdabf26">setTopicList</a>(<a class="code" href="group__telem.html#ga563d2333dc43253129a3915970f99cfa">Telemetry::TopicName</a>* topics, <span class="keywordtype">int</span> numberOfTopics,</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;                    uint16_t freq);</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keywordtype">void</span> allocateDataBuffer();</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordtype">void</span> clearDataBuffer();</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keywordtype">void</span> cleanUpPackage();</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classDJI_1_1OSDK_1_1SubscriptionPackage.html#a58f4f8d179a961af12d421c6ffcd6aed">serializePackageInfo</a>(uint8_t* buffer);</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keywordtype">void</span> setUserUnpackCallback(<a class="code" href="namespaceDJI_1_1OSDK.html#a20a68c21abe449cf5f133f7d398055d3">VehicleCallBack</a> userFunctionAfterPackageExtraction,</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                             <a class="code" href="namespaceDJI_1_1OSDK.html#aded24c93a2d064658a1f59cbf0e6eb9d">UserData</a>        userData);</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keywordtype">bool</span> isOccupied();</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keywordtype">void</span> setOccupied(<span class="keywordtype">bool</span> status);</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="keywordtype">bool</span> hasLeftOverData();</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keywordtype">void</span> setLeftOverDataFlag(<span class="keywordtype">bool</span> flag);</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="comment">// Accessors to private variables:</span></div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  PackageInfo            getInfo();</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  uint32_t*              getUidList(); <span class="comment">// explicitly show it&#39;s a pointer</span></div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <a class="code" href="group__telem.html#ga563d2333dc43253129a3915970f99cfa">Telemetry::TopicName</a>*  getTopicList();</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  uint32_t*              getOffsetList();</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  uint8_t*               getDataBuffer();</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  uint32_t               getBufferSize();</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <a class="code" href="structDJI_1_1OSDK_1_1VehicleCallBackHandler.html">VehicleCallBackHandler</a> getUnpackHandler();</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classDJI_1_1OSDK_1_1SubscriptionPackage.html#a0ba8730ebee7c0d05b654d79ded399b2">packageAddSuccessHandler</a>();</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classDJI_1_1OSDK_1_1SubscriptionPackage.html#a858dfe31ddba393923d11c8055ca7a2d">packageRemoveSuccessHandler</a>();</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="keyword">private</span>: <span class="comment">// Private variables</span></div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keywordtype">bool</span>        occupied;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="keywordtype">bool</span>        leftOverDataFlag;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  PackageInfo info;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <span class="comment">// We have only 30 topics and 5 packages.</span></div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="comment">// So let&#39;s not bother with dynamic memory for now.</span></div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="comment">// The UID</span></div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  uint32_t uidList[Telemetry::TOTAL_TOPIC_NUMBER];</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <span class="comment">// The Name enum, used as index in the DataBase</span></div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <a class="code" href="group__telem.html#ga563d2333dc43253129a3915970f99cfa">Telemetry::TopicName</a> topicList[Telemetry::TOTAL_TOPIC_NUMBER];</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="comment">// The offset of each topic in the data flow</span></div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  uint32_t offsetList[Telemetry::TOTAL_TOPIC_NUMBER];</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  uint32_t packageDataSize;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  uint8_t* incomingDataBuffer;</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <a class="code" href="structDJI_1_1OSDK_1_1VehicleCallBackHandler.html">VehicleCallBackHandler</a> userUnpackHandler;</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;}; <span class="comment">// class SubscriptionPackage</span></div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;</div><div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classDJI_1_1OSDK_1_1DataSubscription.html">  166</a></span>&#160;<span class="keyword">class </span><a class="code" href="classDJI_1_1OSDK_1_1DataSubscription.html">DataSubscription</a></div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;{</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;<span class="keyword">public</span>: <span class="comment">// public methods</span></div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  <a class="code" href="classDJI_1_1OSDK_1_1DataSubscription.html#ac8d44d4288c7fbdff9fb904606c7bfc8">DataSubscription</a>(<a class="code" href="classDJI_1_1OSDK_1_1Vehicle.html">Vehicle</a>* vehicle);</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  ~<a class="code" href="classDJI_1_1OSDK_1_1DataSubscription.html">DataSubscription</a>();</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <a class="code" href="classDJI_1_1OSDK_1_1Vehicle.html">Vehicle</a>* getVehicle();</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classDJI_1_1OSDK_1_1DataSubscription.html#a47dd81b458bde99864994ad808d9ff02">initPackageFromTopicList</a>(<span class="keywordtype">int</span> packageID, <span class="keywordtype">int</span> numberOfTopics,</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;                                <a class="code" href="group__telem.html#ga563d2333dc43253129a3915970f99cfa">Telemetry::TopicName</a>* topicList,</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;                                <span class="keywordtype">bool</span> sendTimeStamp, uint16_t freq);</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classDJI_1_1OSDK_1_1DataSubscription.html#a6a3cf7624e29d3a6ccb1b524d40c3b3f">verify</a>();</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  <a class="code" href="structDJI_1_1OSDK_1_1ACK_1_1ErrorCode.html">ACK::ErrorCode</a> <a class="code" href="classDJI_1_1OSDK_1_1DataSubscription.html#a6a3cf7624e29d3a6ccb1b524d40c3b3f">verify</a>(<span class="keywordtype">int</span> timeout); <span class="comment">// blocking call</span></div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classDJI_1_1OSDK_1_1DataSubscription.html#a87ba0e274119c68277bb749de1aad39e">startPackage</a>(<span class="keywordtype">int</span> packageID);</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <a class="code" href="structDJI_1_1OSDK_1_1ACK_1_1ErrorCode.html">ACK::ErrorCode</a> <a class="code" href="classDJI_1_1OSDK_1_1DataSubscription.html#a87ba0e274119c68277bb749de1aad39e">startPackage</a>(<span class="keywordtype">int</span> packageID, <span class="keywordtype">int</span> timeout); <span class="comment">// blocking call</span></div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classDJI_1_1OSDK_1_1DataSubscription.html#a9ae1664ca9f58407ce6ae7e4f1bd88a0">removePackage</a>(<span class="keywordtype">int</span> packageID);</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  <a class="code" href="structDJI_1_1OSDK_1_1ACK_1_1ErrorCode.html">ACK::ErrorCode</a> <a class="code" href="classDJI_1_1OSDK_1_1DataSubscription.html#a9ae1664ca9f58407ce6ae7e4f1bd88a0">removePackage</a>(<span class="keywordtype">int</span> packageID, <span class="keywordtype">int</span> timeout); <span class="comment">// blocking call</span></div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classDJI_1_1OSDK_1_1DataSubscription.html#a411dd8a2e27e61d846441c3a923d35a9">removeLeftOverPackages</a>();</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classDJI_1_1OSDK_1_1DataSubscription.html#a9afcdd6ce4c8dcc98d759db89632488c">removeAllExistingPackages</a>();</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classDJI_1_1OSDK_1_1DataSubscription.html#a756a7136a09910fed24222d6312edd7d">reset</a>();</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  <a class="code" href="structDJI_1_1OSDK_1_1ACK_1_1ErrorCode.html">ACK::ErrorCode</a> <a class="code" href="classDJI_1_1OSDK_1_1DataSubscription.html#a756a7136a09910fed24222d6312edd7d">reset</a>(<span class="keywordtype">int</span> timeout);</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classDJI_1_1OSDK_1_1DataSubscription.html#a69bfb721713e8fdd164d1cf065d7a180">registerUserPackageUnpackCallback</a>(</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    <span class="keywordtype">int</span> packageID, <a class="code" href="namespaceDJI_1_1OSDK.html#a20a68c21abe449cf5f133f7d398055d3">VehicleCallBack</a> userFunctionAfterPackageExtraction,</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    <a class="code" href="namespaceDJI_1_1OSDK.html#aded24c93a2d064658a1f59cbf0e6eb9d">UserData</a> userData = NULL);</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  <span class="comment">// Not implemented yet</span></div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  <span class="comment">// bool pausePackage(int packageID);</span></div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  <span class="comment">// bool resumePackage(int packageID);</span></div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  <span class="comment">// bool changePackageFrequency(int packageID, uint16_t newFreq);</span></div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;</div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classDJI_1_1OSDK_1_1DataSubscription.html#ab8612b27a4c74b40a065517130450ea7">verifyCallback</a>(<a class="code" href="classDJI_1_1OSDK_1_1Vehicle.html">Vehicle</a>* vehiclePtr, RecvContainer rcvContainer,</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;                             <a class="code" href="namespaceDJI_1_1OSDK.html#aded24c93a2d064658a1f59cbf0e6eb9d">UserData</a> userData);</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;</div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">void</span> addPackageCallback(<a class="code" href="classDJI_1_1OSDK_1_1Vehicle.html">Vehicle</a>*      vehiclePtr,</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;                                 RecvContainer rcvContainer,</div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;                                 <a class="code" href="namespaceDJI_1_1OSDK.html#aded24c93a2d064658a1f59cbf0e6eb9d">UserData</a>      pkgHandle);</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">void</span> removePackageCallback(<a class="code" href="classDJI_1_1OSDK_1_1Vehicle.html">Vehicle</a>*      vehiclePtr,</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;                                    RecvContainer rcvContainer,</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;                                    <a class="code" href="namespaceDJI_1_1OSDK.html#aded24c93a2d064658a1f59cbf0e6eb9d">UserData</a>      pkgHandle);</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">void</span> resetCallback(<a class="code" href="classDJI_1_1OSDK_1_1Vehicle.html">Vehicle</a>*      vehiclePtr,</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;                            RecvContainer rcvContainer,</div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;                            <a class="code" href="namespaceDJI_1_1OSDK.html#aded24c93a2d064658a1f59cbf0e6eb9d">UserData</a>      pkgHandle);</div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classDJI_1_1OSDK_1_1DataSubscription.html#a33b0917c8430a186fdea272f552a80b7">decodeCallback</a>(<a class="code" href="classDJI_1_1OSDK_1_1Vehicle.html">Vehicle</a>* vehiclePtr, RecvContainer rcvContainer,</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;                             <a class="code" href="namespaceDJI_1_1OSDK.html#aded24c93a2d064658a1f59cbf0e6eb9d">UserData</a> subscriptionPtr);</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  <span class="keyword">template</span> &lt;Telemetry::TopicName           topic&gt;</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  <span class="keyword">typename</span> Telemetry::TypeMap&lt;topic&gt;::type getValue()</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  {</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    <span class="keyword">typename</span> Telemetry::TypeMap&lt;topic&gt;::type ans;</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    <span class="keywordtype">void</span>* p = Telemetry::TopicDataBase[topic].latest;</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;</div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;    protocol-&gt;getThreadHandle()-&gt;lockMSG();</div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    <span class="keywordflow">if</span> (p)</div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    {</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;      ans = *<span class="keyword">reinterpret_cast&lt;</span>typename Telemetry::TypeMap&lt;topic&gt;::type*<span class="keyword">&gt;</span>(p);</div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      protocol-&gt;getThreadHandle()-&gt;freeMSG();</div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      <span class="keywordflow">return</span> ans;</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    }</div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    <span class="keywordflow">else</span></div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    {</div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      <a class="code" href="dji__log_8hpp.html#a8b53798ea5f701e57bbee80e28189e19">DERROR</a>(<span class="stringliteral">&quot;Topic 0x%X value memory not initialized, return default&quot;</span>, topic);</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    }</div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    protocol-&gt;getThreadHandle()-&gt;freeMSG();</div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    memset(&amp;ans, 0xFF, <span class="keyword">sizeof</span>(ans));</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;    <span class="keywordflow">return</span> ans;</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  }</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;</div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;<span class="keyword">public</span>: <span class="comment">// public variables</span></div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;  <span class="keyword">const</span> <span class="keyword">static</span> uint8_t   MAX_NUMBER_OF_PACKAGE = 5;</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  <a class="code" href="structDJI_1_1OSDK_1_1VehicleCallBackHandler.html">VehicleCallBackHandler</a> subscriptionDataDecodeHandler;</div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;</div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;<span class="keyword">private</span>: <span class="comment">// private variables</span></div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  <a class="code" href="classDJI_1_1OSDK_1_1Vehicle.html">Vehicle</a>*            vehicle;</div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  OpenProtocol*       protocol;</div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;  <a class="code" href="classDJI_1_1OSDK_1_1SubscriptionPackage.html">SubscriptionPackage</a> package[MAX_NUMBER_OF_PACKAGE];</div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;<span class="keyword">private</span>: <span class="comment">// private methods</span></div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;  <span class="keywordtype">void</span> extractOnePackage(RecvContainer*       pRcvContainer,</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;                         <a class="code" href="classDJI_1_1OSDK_1_1SubscriptionPackage.html">SubscriptionPackage</a>* pkg);</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;};</div><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;}</div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;}</div><div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;</div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;<span class="preprocessor">#endif // DJI_DATASUBSCRIPTION_H</span></div><div class="ttc" id="namespaceDJI_1_1OSDK_html_aded24c93a2d064658a1f59cbf0e6eb9d"><div class="ttname"><a href="namespaceDJI_1_1OSDK.html#aded24c93a2d064658a1f59cbf0e6eb9d">DJI::OSDK::UserData</a></div><div class="ttdeci">void * UserData</div><div class="ttdoc">This is used as the datatype for all data arguments in callbacks.</div><div class="ttdef"><b>Definition:</b> dji_type.hpp:77</div></div>
<div class="ttc" id="classDJI_1_1OSDK_1_1DataSubscription_html_a69bfb721713e8fdd164d1cf065d7a180"><div class="ttname"><a href="classDJI_1_1OSDK_1_1DataSubscription.html#a69bfb721713e8fdd164d1cf065d7a180">DJI::OSDK::DataSubscription::registerUserPackageUnpackCallback</a></div><div class="ttdeci">void registerUserPackageUnpackCallback(int packageID, VehicleCallBack userFunctionAfterPackageExtraction, UserData userData=NULL)</div><div class="ttdoc">Register a callback function after package[packageID] is received.</div><div class="ttdef"><b>Definition:</b> dji_subscription.cpp:176</div></div>
<div class="ttc" id="classDJI_1_1OSDK_1_1DataSubscription_html_ac8d44d4288c7fbdff9fb904606c7bfc8"><div class="ttname"><a href="classDJI_1_1OSDK_1_1DataSubscription.html#ac8d44d4288c7fbdff9fb904606c7bfc8">DJI::OSDK::DataSubscription::DataSubscription</a></div><div class="ttdeci">DataSubscription(Vehicle *vehicle)</div><div class="ttdef"><b>Definition:</b> dji_subscription.cpp:94</div></div>
<div class="ttc" id="structDJI_1_1OSDK_1_1ACK_1_1ErrorCode_html"><div class="ttname"><a href="structDJI_1_1OSDK_1_1ACK_1_1ErrorCode.html">DJI::OSDK::ACK::ErrorCode</a></div><div class="ttdoc">This struct is returned from all blocking calls, except certain mission calls that have explicit type...</div><div class="ttdef"><b>Definition:</b> dji_ack.hpp:129</div></div>
<div class="ttc" id="classDJI_1_1OSDK_1_1DataSubscription_html_a9afcdd6ce4c8dcc98d759db89632488c"><div class="ttname"><a href="classDJI_1_1OSDK_1_1DataSubscription.html#a9afcdd6ce4c8dcc98d759db89632488c">DJI::OSDK::DataSubscription::removeAllExistingPackages</a></div><div class="ttdeci">void removeAllExistingPackages()</div><div class="ttdoc">Remove all occupied packages.</div><div class="ttdef"><b>Definition:</b> dji_subscription.cpp:506</div></div>
<div class="ttc" id="dji__vehicle__callback_8hpp_html"><div class="ttname"><a href="dji__vehicle__callback_8hpp.html">dji_vehicle_callback.hpp</a></div><div class="ttdoc">Type definition for new Vehicle-style callbacks.</div></div>
<div class="ttc" id="classDJI_1_1OSDK_1_1Vehicle_html"><div class="ttname"><a href="classDJI_1_1OSDK_1_1Vehicle.html">DJI::OSDK::Vehicle</a></div><div class="ttdoc">A top-level encapsulation of a DJI drone/FC connected to your OES.</div><div class="ttdef"><b>Definition:</b> dji_vehicle.hpp:90</div></div>
<div class="ttc" id="classDJI_1_1OSDK_1_1DataSubscription_html_a411dd8a2e27e61d846441c3a923d35a9"><div class="ttname"><a href="classDJI_1_1OSDK_1_1DataSubscription.html#a411dd8a2e27e61d846441c3a923d35a9">DJI::OSDK::DataSubscription::removeLeftOverPackages</a></div><div class="ttdeci">void removeLeftOverPackages()</div><div class="ttdoc">Remove leftover incoming telemetry data due to unclean quit.</div><div class="ttdef"><b>Definition:</b> dji_subscription.cpp:483</div></div>
<div class="ttc" id="namespaceDJI_1_1OSDK_html_a20a68c21abe449cf5f133f7d398055d3"><div class="ttname"><a href="namespaceDJI_1_1OSDK.html#a20a68c21abe449cf5f133f7d398055d3">DJI::OSDK::VehicleCallBack</a></div><div class="ttdeci">void(* VehicleCallBack)(Vehicle *vehicle, RecvContainer recvFrame, UserData userData)</div><div class="ttdoc">Function prototype for all callback functions used in the OSDK.</div><div class="ttdef"><b>Definition:</b> dji_vehicle_callback.hpp:49</div></div>
<div class="ttc" id="classDJI_1_1OSDK_1_1SubscriptionPackage_html_a0ba8730ebee7c0d05b654d79ded399b2"><div class="ttname"><a href="classDJI_1_1OSDK_1_1SubscriptionPackage.html#a0ba8730ebee7c0d05b654d79ded399b2">DJI::OSDK::SubscriptionPackage::packageAddSuccessHandler</a></div><div class="ttdeci">void packageAddSuccessHandler()</div><div class="ttdoc">Helper function to do post processing when adding package is successful.</div><div class="ttdef"><b>Definition:</b> dji_subscription.cpp:782</div></div>
<div class="ttc" id="classDJI_1_1OSDK_1_1SubscriptionPackage_html"><div class="ttname"><a href="classDJI_1_1OSDK_1_1SubscriptionPackage.html">DJI::OSDK::SubscriptionPackage</a></div><div class="ttdoc">Package class to support Subscribe-style telemetry.</div><div class="ttdef"><b>Definition:</b> dji_subscription.hpp:52</div></div>
<div class="ttc" id="classDJI_1_1OSDK_1_1SubscriptionPackage_html_a58f4f8d179a961af12d421c6ffcd6aed"><div class="ttname"><a href="classDJI_1_1OSDK_1_1SubscriptionPackage.html#a58f4f8d179a961af12d421c6ffcd6aed">DJI::OSDK::SubscriptionPackage::serializePackageInfo</a></div><div class="ttdeci">int serializePackageInfo(uint8_t *buffer)</div><div class="ttdoc">Serialize the info and uidList to a buffer to send to FC.</div><div class="ttdef"><b>Definition:</b> dji_subscription.cpp:719</div></div>
<div class="ttc" id="group__telem_html_ga563d2333dc43253129a3915970f99cfa"><div class="ttname"><a href="group__telem.html#ga563d2333dc43253129a3915970f99cfa">DJI::OSDK::Telemetry::TopicName</a></div><div class="ttdeci">TopicName</div><div class="ttdoc">enum TopicName is the interface for user to create packages and access data It is also used as index ...</div><div class="ttdef"><b>Definition:</b> dji_telemetry.hpp:59</div></div>
<div class="ttc" id="classDJI_1_1OSDK_1_1DataSubscription_html"><div class="ttname"><a href="classDJI_1_1OSDK_1_1DataSubscription.html">DJI::OSDK::DataSubscription</a></div><div class="ttdoc">Telemetry API through asynchronous &quot;Subscribe&quot;-style messages.</div><div class="ttdef"><b>Definition:</b> dji_subscription.hpp:166</div></div>
<div class="ttc" id="classDJI_1_1OSDK_1_1DataSubscription_html_a33b0917c8430a186fdea272f552a80b7"><div class="ttname"><a href="classDJI_1_1OSDK_1_1DataSubscription.html#a33b0917c8430a186fdea272f552a80b7">DJI::OSDK::DataSubscription::decodeCallback</a></div><div class="ttdeci">static void decodeCallback(Vehicle *vehiclePtr, RecvContainer rcvContainer, UserData subscriptionPtr)</div><div class="ttdoc">This callback function is called by recvReqData, case CMD_ID_SUBSCRIBE.</div><div class="ttdef"><b>Definition:</b> dji_subscription.cpp:126</div></div>
<div class="ttc" id="classDJI_1_1OSDK_1_1SubscriptionPackage_html_a6eaeebd4f63340da619088abafdabf26"><div class="ttname"><a href="classDJI_1_1OSDK_1_1SubscriptionPackage.html#a6eaeebd4f63340da619088abafdabf26">DJI::OSDK::SubscriptionPackage::setTopicList</a></div><div class="ttdeci">bool setTopicList(Telemetry::TopicName *topics, int numberOfTopics, uint16_t freq)</div><div class="ttdoc">Fill in necessary information for ADD_PACKAGE call.</div><div class="ttdef"><b>Definition:</b> dji_subscription.cpp:633</div></div>
<div class="ttc" id="classDJI_1_1OSDK_1_1SubscriptionPackage_html_a858dfe31ddba393923d11c8055ca7a2d"><div class="ttname"><a href="classDJI_1_1OSDK_1_1SubscriptionPackage.html#a858dfe31ddba393923d11c8055ca7a2d">DJI::OSDK::SubscriptionPackage::packageRemoveSuccessHandler</a></div><div class="ttdeci">void packageRemoveSuccessHandler()</div><div class="ttdoc">Helper function to do post processing when removing package is successful.</div><div class="ttdef"><b>Definition:</b> dji_subscription.cpp:799</div></div>
<div class="ttc" id="classDJI_1_1OSDK_1_1DataSubscription_html_a47dd81b458bde99864994ad808d9ff02"><div class="ttname"><a href="classDJI_1_1OSDK_1_1DataSubscription.html#a47dd81b458bde99864994ad808d9ff02">DJI::OSDK::DataSubscription::initPackageFromTopicList</a></div><div class="ttdeci">bool initPackageFromTopicList(int packageID, int numberOfTopics, Telemetry::TopicName *topicList, bool sendTimeStamp, uint16_t freq)</div><div class="ttdoc">This is the interface for the end user to generate a package for subscription.</div><div class="ttdef"><b>Definition:</b> dji_subscription.cpp:161</div></div>
<div class="ttc" id="structDJI_1_1OSDK_1_1VehicleCallBackHandler_html"><div class="ttname"><a href="structDJI_1_1OSDK_1_1VehicleCallBackHandler.html">DJI::OSDK::VehicleCallBackHandler</a></div><div class="ttdoc">The CallBackHandler struct allows users to encapsulate callbacks and data in one struct.</div><div class="ttdef"><b>Definition:</b> dji_vehicle_callback.hpp:56</div></div>
<div class="ttc" id="dji__log_8hpp_html_a8b53798ea5f701e57bbee80e28189e19"><div class="ttname"><a href="dji__log_8hpp.html#a8b53798ea5f701e57bbee80e28189e19">DERROR</a></div><div class="ttdeci">#define DERROR</div><div class="ttdoc">Global Logging macro for error messages.</div><div class="ttdef"><b>Definition:</b> dji_log.hpp:66</div></div>
<div class="ttc" id="dji__telemetry_8hpp_html"><div class="ttname"><a href="dji__telemetry_8hpp.html">dji_telemetry.hpp</a></div><div class="ttdoc">Enumeration of all telemetry data types, structures and maps.</div></div>
<div class="ttc" id="classDJI_1_1OSDK_1_1DataSubscription_html_ab8612b27a4c74b40a065517130450ea7"><div class="ttname"><a href="classDJI_1_1OSDK_1_1DataSubscription.html#ab8612b27a4c74b40a065517130450ea7">DJI::OSDK::DataSubscription::verifyCallback</a></div><div class="ttdeci">static void verifyCallback(Vehicle *vehiclePtr, RecvContainer rcvContainer, UserData userData)</div><div class="ttdoc">Callback function for non-blocking verify()</div><div class="ttdef"><b>Definition:</b> dji_subscription.cpp:211</div></div>
<div class="ttc" id="classDJI_1_1OSDK_1_1DataSubscription_html_a6a3cf7624e29d3a6ccb1b524d40c3b3f"><div class="ttname"><a href="classDJI_1_1OSDK_1_1DataSubscription.html#a6a3cf7624e29d3a6ccb1b524d40c3b3f">DJI::OSDK::DataSubscription::verify</a></div><div class="ttdeci">void verify()</div><div class="ttdoc">Non-blocking call for version match.</div><div class="ttdef"><b>Definition:</b> dji_subscription.cpp:197</div></div>
<div class="ttc" id="namespaceDJI_html"><div class="ttname"><a href="namespaceDJI.html">DJI</a></div><div class="ttdef"><b>Definition:</b> dji_ack.cpp:38</div></div>
<div class="ttc" id="classDJI_1_1OSDK_1_1DataSubscription_html_a9ae1664ca9f58407ce6ae7e4f1bd88a0"><div class="ttname"><a href="classDJI_1_1OSDK_1_1DataSubscription.html#a9ae1664ca9f58407ce6ae7e4f1bd88a0">DJI::OSDK::DataSubscription::removePackage</a></div><div class="ttdeci">void removePackage(int packageID)</div><div class="ttdoc">Non-blocking call for start package.</div><div class="ttdef"><b>Definition:</b> dji_subscription.cpp:411</div></div>
<div class="ttc" id="classDJI_1_1OSDK_1_1DataSubscription_html_a87ba0e274119c68277bb749de1aad39e"><div class="ttname"><a href="classDJI_1_1OSDK_1_1DataSubscription.html#a87ba0e274119c68277bb749de1aad39e">DJI::OSDK::DataSubscription::startPackage</a></div><div class="ttdeci">void startPackage(int packageID)</div><div class="ttdoc">Non-blocking call for starting a package.</div><div class="ttdef"><b>Definition:</b> dji_subscription.cpp:255</div></div>
<div class="ttc" id="classDJI_1_1OSDK_1_1DataSubscription_html_a756a7136a09910fed24222d6312edd7d"><div class="ttname"><a href="classDJI_1_1OSDK_1_1DataSubscription.html#a756a7136a09910fed24222d6312edd7d">DJI::OSDK::DataSubscription::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">Non-blocking call for resetting all packages.</div><div class="ttdef"><b>Definition:</b> dji_subscription.cpp:522</div></div>
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